Eitan, I copied nav_view.xml from move_base_stage/move_base, changing the remappings to topics that exist in my system. That along with your two suggestions seem to have done the trick. There are, however, a few odd things: -when I start up nav_view, the map takes a *really* long time to show up - on the order of 5 minutes -once the robot gets to its goal, it spins around a lot before stopping -nav_view seems a bit unstable - ubuntu frequently grays it out thinking it's crashed Thanks for the help, -Dan On 3/31/10 12:24 PM, Eitan Marder-Eppstein wrote: > Dan, > > The Costmap2DROS transform timeouts could be a problem if they don't > taper off after startup. A bunch of warnings right as you start isn't > unexpected, but if they just keep spewing that means there is likely a > timing issue. Do they keep spewing constantly or more or less stop > after a few seconds? > > After looking at your configuration files, it seems that you're > missing a pretty important line in costmap_common_params.yaml. You > define a "laser_scan_sensor," but you never actually tell the > navigation stack to use it. As such, you'll never see obstacles show > up in the costmap. Add the following line to your > costmap_common_params.yaml file: > > observation_sources: laser_scan_sensor > > This will tell the navigation stack that you'd like to use the > laser_scan_sensor you defined. > > Hopefully, adding that line should get obstacles to show up for you. > However, even without that, I would've expected the robot to move when > you set a goal, it would just hit stuff. Are you sure that you were > sending a goal on the correct topic? In rviz, you need to make sure to > set the 2D Nav Goal topic to "move_base_simple/goal." I believe that > both rviz and nav_view by default send to the "goal" topic instead. If > you want to use nav_view, you'll have to remap in your launch file. > You can see move_base_stage/move_base/nav_view.xml for an example of this. > > Oh... I think I may know why the robot doesn't move, you've defined > your footprint by only 2 points. The navigation stack supports any > convex polygon for a footprint and, therefore, needs at least three > points to run. It also assumes that the robot is centered at (0, 0). > If you want to define a square robot of the dimensions in your launch > file you'll need to use the following: > > footprint: [[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]] > > You should have received a warning about this, but I just realized > that the costmap uses ROS_ASSERT where it should be using ROS_FATAL. > This means that all those warnings will be compiled out when run in > release mode. I've ticketed fixing this here: > https://code.ros.org/trac/ros-pkg/ticket/3939 > > Hope this helps and let me know how things go... we'll figure it out yet, > > Eitan > > On Wed, Mar 31, 2010 at 8:13 AM, Dan Lazewatsky > > wrote: > > > On 3/30/10 7:55 PM, Eitan Marder-Eppstein wrote: >> Hey Dan, >> >> A few questions for ya to help figure out what's going on: >> >> 1) Have you tried using the rxconsole tool to see if any useful >> information is being output from the system? If so, did you see >> anything that seemed to be complaining or giving warnings? > rxconsole doesn't show anything that seems too concerning. The > worst is a bunch of > Costmap2DROS transform timeout. Current time: ... > >> >> 2) What launch files are you running on the erratic? Are they the >> ones in the 2dnav_erratic package? Or different ones that you >> created? We used to have an erratic in-house, but we don't >> anymore and its been awhile since the 2dnav_erratic package has >> been tested. If you're running with your own configuration, could >> you post the files so I can take a look at them? > I've attached the launch file and config files I'm using. The > config files were all setup according to this: > http://www.ros.org/wiki/navigation/Tutorials/RobotSetup >> >> 3) Do you see any obstacles in nav_view? On second thought, rviz >> is a more powerful debugging tool for this kind of stuff. Have >> you tried using rviz to get useful debugging information (whether >> obstacles show up, a plan is created, etc)? You can find a >> tutorial on using rviz with the navigation stack here: >> http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack > nav_view and rviz don't show any obstacles, plan, or really > anything but the map. If I'm really lucky, rviz will show the amcl > particle cloud. > >> >> >> Ok... take a shot at answering these and we'll see if that gives >> a bit more insight into what's going on. >> >> Hope all is well, >> >> Eitan >> >> On Tue, Mar 30, 2010 at 3:57 PM, Dan Lazewatsky >> > wrote: >> >> Thanks for the response Eitan - >> I've created a map, and am trying to get an erratic to >> navigate in said map using nav_view. I set up the robot >> according the the nav robot setup tutorial, and when I run >> nav view I can see the map and set the robot's initial pose, >> but trying to set the goal doesn't seem to do anything. I get >> a printout from nav view saying "setting goal: Position(...)" >> but that's all. >> >> -Dan >> >> >> On 3/30/10 4:31 PM, Eitan Marder-Eppstein wrote: >>> Dan, >>> >>> The wavefront package has fallen into a bit of disrepair as >>> we favor our move_base package for autonomous navigation. If >>> you're looking to run some autonomous navigation demos, >>> check out the move_base_stage package instead of the >>> 2dnav_stage package. The 2dnav_stage package will probably >>> be removed in the near future to save people the confusion. >>> >>> Hope this helps, >>> >>> Eitan >>> >>> On Tue, Mar 30, 2010 at 12:07 PM, Dan Lazewatsky >>> >> > wrote: >>> >>> Hi all - I'm having some trouble using wavefront. When I >>> try to start it I get this: >>> >>> robotics@tears$ rosrun wavefront wavefront >>> terminate called after throwing an instance of 'ros::InvalidNameException' >>> what(): Using ~ names with NodeHandle methods is not allowed. If you want to use private names with the NodeHandle interface, construct a NodeHandle using a private name as its namespace. e.g. ros::NodeHandle nh("~"); nh.getParam("my_private_name"); (name = [~dist_eps]) >>> /home/robotics/ros/ros/bin/rosrun: line 35: 15562 Aborted $exepath "$@" >>> >>> Granted, I don't know what the right way to use >>> wavefront since the documentation is a bit spotty. >>> >>> Any ideas would be appreciated. >>> >>> Thanks, >>> -Dan >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >